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  <joint name="link1_to_link2" type="revolute">
    <origin xyz="0.04 -0.018 0.073356707952" rpy="0.0 0.0 0.0" />
    <parent link="link1_1" />
    <child link="link2_1" />
    <axis xyz="3.7576779295e-14 -1.0 3.11848821907e-14" />
    <limit effort="100.0" velocity="100.0" lower="-2.32128790515" upper="1.58824961931" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="link2_to_link3" type="revolute">
    <origin xyz="3.39589458789e-05 0.035999879491 0.113000833762" rpy="0.0 0.0 0.0" />
    <parent link="link2_1" />
    <child link="link3_1" />
    <axis xyz="5.4643524895e-08 -1.0 3.71447673953e-08" />
    <limit effort="100.0" velocity="100.0" lower="-1.57079632679" upper="2.67035375555" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="link3_to_link4" type="revolute">
    <origin xyz="0.135059233654 -2.61233757511e-07 0.0336375809223" rpy="0.0 0.0 0.0" />
    <parent link="link3_1" />
    <child link="link4_1" />
    <axis xyz="-5.21611917629e-08 1.0 -3.41984371354e-08" />
    <limit effort="100.0" velocity="100.0" lower="-1.72787595947" upper="1.69296937443" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="link4_to_link5" type="revolute">
    <origin xyz="0.0591945817497 -0.0180002669618 -4.03637807994e-05" rpy="0.0 0.0 0.0" />
    <parent link="link4_1" />
    <child link="link5_1" />
    <axis xyz="-1.0 -4.90398764451e-08 1.40482066922e-10" />
    <limit effort="100.0" velocity="100.0" lower="-2.87979326579" upper="2.84488668075" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="clamp1" type="prismatic">
    <origin xyz="0.0639999993385 0.0165020797222 0.0159979235363" rpy="0.0 0.0 0.0" />
    <parent link="link5_1" />
    <child link="clamp1_1" />
    <axis xyz="-5.21612507542e-08 1.0 4.50838078172e-08" />
    <limit effort="100.0" velocity="100.0" lower="0.0" upper="0.0415" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="clamp2" type="prismatic">
    <origin xyz="0.0640000007627 -0.0154979202778 0.0159979219163" rpy="0.0 0.0 0.0" />
    <parent link="link5_1" />
    <child link="clamp2_1" />
    <axis xyz="-4.9039873492e-08 1.0 4.73420869362e-08" />
    <limit effort="100.0" velocity="100.0" lower="-0.0415" upper="3.46944695195e-17" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
</robot>
